[SamcFuchs]

Originally Posted by AustinSchuh

The most important part here is to plot everything. Plot your error vs time, and watch it evolve. Plot the power due to P, I, D, FF. Plot the encoder based heading and the gyro based heading. It's possible but hard to tune these things by eye. Honestly, sometimes I think it's easier to rough tune them by listening to them and listening for the overshoot, and then reaching for the plots when I'm stuck. I also like to grab it and feel the loop, though you have to be very careful since robots can cause lots of damage fast.

This is a good point, and I feel it would probably solve a lot of out problems. However, I haven't found a good way to get real time plots from the robot. Do you just use the smartdashboard?